version: 66.13
glider: 401
mission: 22
dive: 38
start: 7 27 117 8 40 19
data:
$ID,401
$MISSION,22
$DIVE,38
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,22
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,350
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,270717,081703,5920.9790,-17032.5820,7,1.0,17,8.6,0.0,57.0,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-0.8
$GPS2,270717,081703,5920.9790,-17032.5820,7,1.0,17,8.6,0.0,57.0,9,4.7
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.321330,-0.013956
$KALMAN_X,5214.152344,-254.683517,-509.915771,-11165.524414,226.508865
$KALMAN_Y,3337.277344,1295.554810,930.070618,4928.347168,110.403870
$MHEAD_RNG_PITCHd_Wd,258.9,22643,-12.2,-9.091,-15.78,5644
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.62,-341.3,2407,1886,2402,4092,0.0,0.0,0,19,5.85,0.00,-3.78,0.000,20482,0.031,0.000,1843,1886,2819,2819,4094,0,0,0,0,0,0,26.04,28.83,26.09,10.31,49.56
$GC,22,-1.62,-341.3,1843,1886,2819,4094,0.2,0.0,1,31,0.00,3.45,-0.70,0.000,16900,0.000,1.301,1843,713,2898,2898,4095,0,0,0,0,0,0,26.25,24.91,26.17,10.39,49.37
$GC,54,-1.62,-341.3,1842,713,2898,4095,1.3,-2.7,5,63,0.00,3.05,0.00,0.000,1030,0.000,0.036,1843,1896,2898,2898,4095,0,0,0,0,0,0,25.91,25.87,25.92,10.41,49.64
$GC,98,-1.62,-341.3,1842,1897,2900,4095,5.8,-10.5,11,108,0.00,3.35,0.00,0.000,260,0.000,0.073,1843,3097,2900,2900,4094,0,0,0,0,0,0,26.17,25.80,26.18,10.42,49.17
$GC,136,-1.62,-341.3,1842,3097,2900,4094,10.5,-12.5,16,146,0.00,3.10,0.00,0.000,1030,0.000,0.035,1843,1909,2901,2901,4094,0,0,0,0,0,0,25.97,25.92,25.99,10.43,49.05
$GC,183,-1.62,-341.3,1842,1909,2901,4094,16.0,-12.2,22,192,0.00,3.38,0.00,0.000,516,0.000,0.082,1843,704,2901,2901,4095,0,0,0,0,0,0,26.25,25.87,26.27,10.40,48.74
$GC,254,-1.62,-341.3,1842,703,2903,4095,24.5,-12.2,32,264,0.00,2.97,0.00,0.000,1030,0.000,0.037,1843,1872,2903,2903,4095,0,0,0,0,0,0,26.06,26.05,26.10,10.37,48.11
$GC,301,-1.62,-341.3,1842,1873,2904,4095,29.7,-10.8,38,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1874,2904,2904,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.35,47.55
$GC,347,-1.62,-341.3,1842,1875,2905,4094,34.5,-10.8,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1875,2904,2904,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.34,46.41
$GC,391,-1.62,-341.3,1842,1874,2906,4095,39.4,-10.9,50,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1875,2906,2906,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.34,45.70
$GC,435,-1.62,-341.3,1842,1876,2907,4094,44.4,-11.3,56,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1876,2907,2907,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,45.86
$GC,480,-1.62,-341.3,1842,1876,2908,4094,49.0,-10.2,62,488,0.00,3.35,0.00,0.000,260,0.000,0.071,1843,3088,2908,2908,4094,0,0,0,0,0,0,26.45,26.08,26.46,10.33,45.39
$GC,517,-1.62,-341.3,1842,3088,2908,4094,53.3,-11.4,67,525,0.00,3.15,0.00,0.000,1030,0.000,0.035,1843,1866,2908,2908,4094,0,0,0,0,0,0,26.21,26.17,26.24,10.33,45.39
$GC,562,-1.62,-341.3,1842,1866,2909,4094,59.0,-12.9,73,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1866,2909,2909,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.32,45.31
$STATE,579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,584,-0.45,0.0,1842,2043,2910,4094,61.6,-13.3,75,611,4.00,0.00,20.33,1.265,10244,0.068,0.000,2204,2043,2500,2500,4094,0,0,0,0,0,0,26.18,25.53,24.63,10.32,45.31
$STATE,612,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,614,1.62,341.3,2203,2043,2500,4094,64.0,0.0,78,651,7.05,3.22,20.08,1.257,10500,0.044,0.074,2863,3184,2101,2101,4094,0,0,0,0,0,0,25.65,25.58,24.18,10.23,44.95
$GC,693,1.62,341.3,2862,3184,2101,4094,58.4,12.2,88,703,0.00,3.10,0.00,0.000,1030,0.000,0.034,2863,2023,2100,2100,4094,0,0,0,0,0,0,25.48,25.40,25.48,10.14,45.19
$GC,738,1.62,341.3,2863,2023,2100,4094,53.3,11.2,94,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2023,2099,2099,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.13,44.32
$GC,782,1.62,341.3,2863,2023,2098,4094,48.3,12.3,100,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2023,2098,2098,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.13,44.84
$GC,828,1.62,341.3,2863,2023,2098,4094,43.2,11.5,106,838,0.00,3.42,0.00,0.000,516,0.000,0.086,2863,822,2097,2097,4095,0,0,0,0,0,0,25.99,25.64,26.01,10.13,45.03
$GC,899,1.62,341.3,2862,822,2096,4095,34.2,11.9,116,909,0.00,3.00,0.00,0.000,1030,0.000,0.034,2863,1986,2095,2095,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.12,46.06
$GC,946,1.62,341.3,2863,1987,2094,4094,28.4,12.4,122,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2094,2094,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.12,45.27
$GC,992,1.62,341.3,2862,1987,2093,4095,22.5,12.9,128,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2093,2093,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,45.78
$GC,1035,1.62,341.3,2863,1987,2092,4094,17.0,12.1,134,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1988,2091,2091,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.11,45.70
$GC,1080,1.63,348.6,2863,1987,2090,4094,12.5,9.0,140,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2090,2090,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.15,46.57
$GC,1123,1.63,348.6,2863,1989,2090,4094,8.4,9.6,146,1133,0.00,3.30,0.00,0.000,516,0.000,0.084,2863,824,2089,2089,4095,0,0,0,0,0,0,26.31,25.95,26.32,10.17,47.95
$GC,1162,1.63,348.6,2863,824,2088,4095,4.4,10.8,151,1171,0.00,3.05,0.00,0.000,1030,0.000,0.035,2863,2017,2089,2089,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.19,48.34
$STATE,1185,end climb,FINISH_DEPTH_REACHED
$STATE,1185,begin subsurface finish
$FINISH1,1.5,1.024320,89
$GC,1191,0.13,89.2,2863,2022,2087,4094,1.5,11.1,154,1202,4.80,0.00,-2.75,0.000,20486,0.043,0.000,2406,2023,2403,2403,4094,0,0,0,0,0,0,26.11,25.20,26.16,10.20,48.74
$FINISH2,0.2
$STATE,1203,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1203,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,080907
$TT8_MAMPS,0.025466,0.24717
$HUMID,48.70
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.18,1.148
$10V_AH,10.28,1.508
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.700,45.600,40.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.895,0.389,132.164,644.623,43.360,33.417,395.796,0.000,374.708,0.000,0.542,0.000
$DEVICE_MAMPS,68.085,1301.265,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.327,421.081,333.359,494.441,642.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331072
$DATA_FILE_SIZE,14361,155
$CAP_FILE_SIZE,33342,0
$CFSIZE,1024409600,1017626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,081703,5920.979,-17032.582,7,1.0,17,8.6,0.0,57.0,9,4.7